Synthesis of Stationary-Active Axes Parallel Mechanisms and Applications

摘要

The paper presents the synthesis of Stationary-Active (St-Ac) axes mechanisms starting from two DOF to six DOF parallel manipulators. The St-Ac type of parallel mechanisms show certain advantages over the moving axes or pivoted axes type of actuators. Due to the Stationary Actuator feature, certain design features are possible, which are not feasible in case of the pivoted axis or moving active axes type of parallel mechanisms. The paper shows the overriding characteristics of St-Ac axes configuration that will influence its choice in certain applications. The mechanical master-slave manipulator design, common shaft control of St-Ac Parallel Manipulators and the prototype of St-Ac has been demonstrated.